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<div class="title">occupied_map.cpp</div>  </div>
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<a href="occupied__map_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;map/occupied_map.h&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;octomap_msgs/Octomap.h&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;octomap_msgs/conversions.h&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;base/baseType.h&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespacecv.html">cv</a>;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//声明advertise，octomap rviz plug in 默认接受topic为octomap_full的message</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keywordtype">void</span> PROBABILISTIC_MAP::push_to_rviz()</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;{</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    <span class="comment">//声明message</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">int</span> cnt=0;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    octomap_msgs::Octomap map_msg;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    <span class="comment">//设置header</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    map_msg.header.frame_id = <span class="stringliteral">&quot;map&quot;</span>;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    map_msg.header.stamp = ros::Time::now();</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    map_msg.header.seq=cnt++;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <span class="comment">//fullMapToMsg负责转换成message</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keywordflow">if</span> (octomap_msgs::fullMapToMsg(*tree, map_msg))</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;        pub_octomap-&gt;publish(map_msg);</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        ROS_ERROR(<span class="stringliteral">&quot;Error serializing OctoMap&quot;</span>);</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;}</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;PROBABILISTIC_MAP::PROBABILISTIC_MAP(std::mutex *_mtx_,Parameters *_p_,UNIVERSAL_STATE *_unity_,UAVCONTROL_INTERFACE *_mavlink_p_)</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                    :_mtx(_mtx_),<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>(_p_),<a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>(_unity_),_mavlink_p(_mavlink_p_){</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordtype">int</span> x = <a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;map_size_x;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keywordtype">int</span> y = <a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;map_size_y;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    map_griz_size = <a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;map_grid_size;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    Gridmap.map_expand_size = <a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;map_expand_size;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    Gridmap.grid_size=map_griz_size;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    Gridmap.map.resize(y/Gridmap.grid_size,x/Gridmap.grid_size);</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    Gridmap.map.setZero();</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    occupied_thresh=<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;map_occupied_thresh;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    set_center(y/Gridmap.grid_size/2,x/Gridmap.grid_size/2);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    update_hit=log(occupied_p_of_hit/(1-occupied_p_of_hit));</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    update_miss=log(occupied_p_of_miss/(1-occupied_p_of_miss));</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    </div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    ros::NodeHandle nh;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    pub_octomap = std::make_shared&lt;ros::Publisher&gt;(nh.advertise&lt;octomap_msgs::Octomap&gt;(<span class="stringliteral">&quot;octomap_full&quot;</span>, 1, <span class="keyword">true</span>));</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    tree = std::make_shared&lt;octomap::OcTree&gt;(map_griz_size);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    tree-&gt;setProbHit(0.8);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    tree-&gt;setProbMiss(0.4);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    tree-&gt;setClampingThresMin(0.005);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    tree-&gt;setClampingThresMax(0.999);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    lidar_data_vis = lidar_data_vis-&gt;init(<span class="stringliteral">&quot;lidar_data_vis&quot;</span>,<span class="stringliteral">&quot;marker&quot;</span>,<span class="stringliteral">&quot;point&quot;</span>,<span class="stringliteral">&quot;refresh&quot;</span>);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    lidar_data_vis-&gt;set_attribue(0,1,0,0.7);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keywordtype">double</span> PROBABILISTIC_MAP::check_grid(<span class="keywordtype">int</span> row,<span class="keywordtype">int</span> col ,<span class="keywordtype">int</span> z){</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    </div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">double</span> p = Gridmap(row,col);  <span class="comment">//row index   col index</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">// if(p&gt;0) rout(&quot;%f&quot;,p);</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span> p;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keywordtype">void</span> PROBABILISTIC_MAP::update_grid(WP _wp_ ,GRID_STATUS hit_or_miss){</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordtype">bool</span> _hit_or_miss =hit_or_miss==GRID_STATUS::HIT?<span class="keyword">true</span>:<span class="keyword">false</span>;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    tree-&gt;updateNode(_wp_.x,_wp_.y,_wp_.z,_hit_or_miss);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keywordtype">double</span> PROBABILISTIC_MAP::check_grid(WP _wp_){</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    octomap::OcTreeNode *point;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordflow">if</span>((point=tree-&gt;search(_wp_.x,_wp_.y,_wp_.z))!=<span class="keyword">nullptr</span>);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keywordflow">return</span> point-&gt;getOccupancy();</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    }</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordflow">return</span> .0;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keywordtype">void</span> PROBABILISTIC_MAP::update_from_cloud(<span class="keyword">const</span> PTC &amp;cloud,<span class="keyword">const</span> PTC &amp;edge,copter_local_pos_att_t * attpos){</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">//     ShadowMap.setZero();</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment">//     //对整个点云进行处理 转化为世界localned坐标</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">// WPS pointCloudInworld = ft_pts(-attpos-&gt;pos_x,-attpos-&gt;pos_y,angle_add(attpos-&gt;yaw,0),cloud);</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// WPS EdgeCloudInworld = ft_pts(-attpos-&gt;pos_x,-attpos-&gt;pos_y,angle_add(attpos-&gt;yaw,0),edge);</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    OBSTACLE_GRID_MAP obstaclesMapshow;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    Mat img;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a>-&gt;show_point_cloud)</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    {</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        obstaclesMapshow=this-&gt;Gridmap;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        obstaclesMapshow.center_x/=2;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        img = Mat(obstaclesMapshow.map.rows(),obstaclesMapshow.map.cols(),CV_8UC3);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        img.setTo(0);</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i&lt;edge.size();i++){</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;            circleimg(img,edge[i],obstaclesMapshow,Scalar(255,20,0),2);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0;i&lt;cloud.size();i++){</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            circleimg(img,cloud[i],obstaclesMapshow,Scalar(0,255,0),2);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        imshow(<span class="stringliteral">&quot;edgecloud&quot;</span>,img);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    }</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    octomap::KeyRay ray;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    octomap::Pointcloud cloud_ed;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0 ; i&lt;edge.size();i++){</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        cloud_ed.push_back(edge[i].x,edge[i].y,edge[i].z);     </div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    cloud_ed.transform(octomath::Pose6D(attpos-&gt;pos_x,attpos-&gt;pos_y,attpos-&gt;pos_z,attpos-&gt;roll,attpos-&gt;pitch,attpos-&gt;yaw));</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">for</span>(<span class="keyword">auto</span> cloud_iter = cloud_ed.begin();cloud_iter!=cloud_ed.end();cloud_iter++){</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        ray.reset();</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        tree-&gt;computeRayKeys(octomap::point3d(attpos-&gt;pos_x,attpos-&gt;pos_y,attpos-&gt;pos_z),*cloud_iter,ray);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">auto</span> iter=ray.begin();iter!=ray.end();iter++){</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            tree-&gt;updateNode(*iter, <span class="keyword">false</span>);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        }</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    octomap::Pointcloud cloud_oc;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0 ; i&lt;cloud.size();i++){</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        cloud_oc.push_back(cloud[i].x,cloud[i].y,cloud[i].z);     </div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    }</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    tree-&gt;insertPointCloud(cloud_oc,octomap::point3d(0.1,0,0)</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                            ,octomath::Pose6D(attpos-&gt;pos_x,attpos-&gt;pos_y,attpos-&gt;pos_z,attpos-&gt;roll,attpos-&gt;pitch-0.12,attpos-&gt;yaw)</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                            ,45,<span class="keyword">true</span>,<span class="keyword">true</span>);</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="comment">// lidar_data_vis-&gt;push_to_rviz(cloud_oc);</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    </div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    OBSTACLE_GRID_MAP tmpMap(Gridmap);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    tmpMap.map.resize(Gridmap.map.rows(),Gridmap.map.cols());</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    tmpMap.map.setZero();</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordtype">double</span> min =attpos-&gt;pos_z-1; min=min&lt;0?0:min;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordtype">double</span> max = attpos-&gt;pos_z+1;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">for</span>(octomap::OcTree::iterator it = tree-&gt;begin(16),</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        end = tree-&gt;end(); it != end; ++it){</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keywordflow">if</span>(tree-&gt;isNodeOccupied(*it)){</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            <span class="keywordtype">double</span> z = it.getZ();</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            <span class="keywordtype">double</span> half_size = it.getSize()/2;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            <span class="keywordflow">if</span> (z + half_size &gt; min &amp;&amp; z - half_size &lt; max ){  <span class="comment">//slice</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                <span class="keywordtype">double</span> x = it.getX();</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                <span class="keywordtype">double</span> y = it.getY();</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                <span class="keywordtype">double</span> size = it.getSize();</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                 <span class="keywordflow">if</span> ((it.getDepth() ==16) &amp;&amp; !isSpeckleNode(it)){</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                    <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                }</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                <span class="comment">// rout(&quot;it-&gt;getOccupancy() %f&quot;,it-&gt;getOccupancy());</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                tmpMap.set_grid(x/tmpMap.grid_size+tmpMap.center_x,y/tmpMap.grid_size+tmpMap.center_y,it-&gt;getOccupancy());</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                <span class="comment">// rout(&quot;tmpMap%f  get%f&quot;,tmpMap(y/tmpMap.grid_size+tmpMap.center_y,x/tmpMap.grid_size+tmpMap.center_x),it-&gt;getOccupancy());</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            }</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        }</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    }</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    _mtx-&gt;lock();</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    Gridmap=tmpMap;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    _mtx-&gt;unlock();</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    push_to_rviz();</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keywordtype">bool</span> PROBABILISTIC_MAP::isSpeckleNode(octomap::OcTree::iterator Node){</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keyword">auto</span> nKey = Node.getKey();</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    octomap::OcTreeKey key;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordtype">bool</span> neighborFound = <span class="keyword">false</span>;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordflow">for</span> (key[2] = nKey[2] - 1; !neighborFound &amp;&amp; key[2] &lt;= nKey[2] + 1; ++key[2]){</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordflow">for</span> (key[1] = nKey[1] - 1; !neighborFound &amp;&amp; key[1] &lt;= nKey[1] + 1; ++key[1]){</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;            <span class="keywordflow">for</span> (key[0] = nKey[0] - 1; !neighborFound &amp;&amp; key[0] &lt;= nKey[0] + 1; ++key[0]){</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                <span class="keywordflow">if</span> (key != nKey){</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                    octomap::OcTreeNode* node = tree-&gt;search(key);</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                    <span class="keywordflow">if</span> (node &amp;&amp; tree-&gt;isNodeOccupied(node)){</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                        <span class="comment">// we have a neighbor =&gt; break!</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                        neighborFound = <span class="keyword">true</span>;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                    }</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                }</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;            }</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        }</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    }</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordflow">return</span> neighborFound;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;}</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;cv::Mat PROBABILISTIC_MAP::get_whole_map(){</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    cv::Mat img(Gridmap.map.rows(),Gridmap.map.cols(),CV_8UC1);</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0;i&lt;Gridmap.map.rows();i++)</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0;j&lt;Gridmap.map.cols();j++){</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                img.at&lt;uchar&gt;(i,j)=check_grid(i,j,0)*255;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    }</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordflow">return</span> img;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;}</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="keywordtype">void</span> PROBABILISTIC_MAP::set_center(<span class="keywordtype">int</span> x,<span class="keywordtype">int</span> y ){</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    Gridmap.center_x=x;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    Gridmap.center_y=y;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;}</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="keywordtype">void</span> OBSTACLE_GRID_MAP::index_check(<span class="keywordtype">int</span> &amp;_row_,<span class="keywordtype">int</span> &amp;_col_){ </div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordtype">int</span> offset_more=map_expand_size;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">if</span>(_col_&lt;0){</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="keywordtype">int</span> cur_cols=map.cols();</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordtype">int</span> cur_rows=map.rows();</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordtype">int</span> d_x = -_col_+offset_more;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        Eigen::MatrixXd tmp;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        </div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        tmp.resize(cur_rows,cur_cols+d_x);</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        tmp.setZero();</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        tmp.block(0,d_x,cur_rows,cur_cols)=map;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        center_x +=d_x;<span class="comment">//offset x</span></div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        map.resizeLike(tmp);</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        map.setZero();</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        map=tmp;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        _col_=offset_more;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;x&lt;  ,map resize %d %d to %d %d&quot;</span>,cur_rows,cur_cols,map.rows(),map.cols());</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    }</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordflow">if</span>(_col_&gt;=map.cols()){</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keywordtype">int</span> cur_cols=map.cols();</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordtype">int</span> cur_rows=map.rows();</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordtype">int</span> d_x = _col_-map.cols()+1+offset_more;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        Eigen::MatrixXd tmp;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        tmp.setZero();</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        tmp.resize(cur_rows,cur_cols+d_x);</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        tmp.block(0,0,cur_rows,cur_cols)=map;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        map.resizeLike(tmp);</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        map.setZero();</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        map=tmp;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="comment">// x=map.cols()-1-offset_more;NO add</span></div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;x&gt;= ,map resize %d %d to %d %d&quot;</span>,cur_rows,cur_cols,map.rows(),map.cols());</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    }  </div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">if</span>(_row_&lt;0){</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keywordtype">int</span> cur_cols=map.cols();</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordtype">int</span> cur_rows=map.rows();</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordtype">int</span> d_y = -_row_+offset_more;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        Eigen::MatrixXd tmp;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        tmp.resize(cur_rows+d_y,cur_cols);</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        tmp.setZero();</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        tmp.block(d_y,0,cur_rows,cur_cols)=map;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        center_y +=d_y;<span class="comment">//offset x  </span></div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        map.resizeLike(tmp);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        map.setZero();</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        map=tmp; </div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        _row_=offset_more;   </div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;y&lt;  ,map resize %d %d to %d %d&quot;</span>,cur_rows,cur_cols,map.rows(),map.cols());</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    }</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keywordflow">if</span>(_row_&gt;=map.rows()){</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="keywordtype">int</span> cur_cols=map.cols();</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="keywordtype">int</span> cur_rows=map.rows();</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="keywordtype">int</span> d_y = _row_-map.rows()+1+offset_more;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        Eigen::MatrixXd tmp;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        tmp.setZero();</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        tmp.resize(cur_rows+d_y,cur_cols);</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        tmp.block(0,0,cur_rows,cur_cols)=map;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        map.resizeLike(tmp);</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        map.setZero();</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        map=tmp;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="comment">// y=map.rows()-1-offset_more;;NO add</span></div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <a class="code" href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a>(<span class="stringliteral">&quot;y&gt;= ,map resize %d %d to %d %d&quot;</span>,cur_rows,cur_cols,map.rows(),map.cols());</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    }          </div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="keywordtype">void</span> OBSTACLE_GRID_MAP::set_grid(<span class="keywordtype">int</span> x ,<span class="keywordtype">int</span> y,<span class="keywordtype">double</span> value){  <span class="comment">//col first</span></div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        index_check(y,x);</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        map(y,x)=value;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;}</div><div class="ttc" id="main_8cpp_html_a5ac4b17db930392c756a747dc7f98e5f"><div class="ttname"><a href="main_8cpp.html#a5ac4b17db930392c756a747dc7f98e5f">rout</a></div><div class="ttdeci">#define rout</div><div class="ttdef"><b>Definition:</b> <a href="main_8cpp_source.html#l00030">main.cpp:30</a></div></div>
<div class="ttc" id="namespacecv_html"><div class="ttname"><a href="namespacecv.html">cv</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_a628de36a04ace954e48e1001ae9346f5"><div class="ttname"><a href="flow__attacher_8cpp.html#a628de36a04ace954e48e1001ae9346f5">_p</a></div><div class="ttdeci">Parameters * _p</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00003">flow_attacher.cpp:3</a></div></div>
<div class="ttc" id="flow__attacher_8cpp_html_ab0db892883304e1f5de7a967b5656f11"><div class="ttname"><a href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a></div><div class="ttdeci">UNIVERSAL_STATE * _unity</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00004">flow_attacher.cpp:4</a></div></div>
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